diff --git a/README.md b/README.md new file mode 100644 index 000000000..9062759fa --- /dev/null +++ b/README.md @@ -0,0 +1,12 @@ +== husky == + +Common ROS packages for the Clearpath Husky, useable for both simulation and +real robot operation. + + - husky_control : Control configuration + - husky_description : Robot description (URDF) + - husky_msgs : Message definitions + - husky_navigation : Navigation configurations and demos + - husky_ur5_moveit_config : MoveIt configuration and demos + +For Husky instructions and tutorials, please see http://wiki.ros.org/Robots/Husky diff --git a/husky_control/.gitignore b/husky_control/.gitignore deleted file mode 100644 index f8bcd1173..000000000 --- a/husky_control/.gitignore +++ /dev/null @@ -1,47 +0,0 @@ -build/ -bin/ -lib/ -msg_gen/ -srv_gen/ -msg/*Action.msg -msg/*ActionFeedback.msg -msg/*ActionGoal.msg -msg/*ActionResult.msg -msg/*Feedback.msg -msg/*Goal.msg -msg/*Result.msg -msg/_*.py - -# Generated by dynamic reconfigure -*.cfgc -/cfg/cpp/ -/cfg/*.py - -# Ignore generated docs -*.dox -*.wikidoc - -# eclipse stuff -.project -.cproject - -# qcreator stuff -CMakeLists.txt.user - -srv/_*.py -*.pcd -*.pyc -qtcreator-* -*.user - -/planning/cfg -/planning/docs -/planning/src - -*~ - -# Emacs -.#* - -# Catkin custom files -CATKIN_IGNORE diff --git a/husky_control/README.md b/husky_control/README.md deleted file mode 100644 index c26519204..000000000 --- a/husky_control/README.md +++ /dev/null @@ -1,2 +0,0 @@ -husky_control -============= diff --git a/husky_description/README.md b/husky_description/README.md deleted file mode 100644 index 337b885d5..000000000 --- a/husky_description/README.md +++ /dev/null @@ -1,6 +0,0 @@ -husky_description -================= - -Husky URDF description. - -Viewer launchfile is in husky_viz package: `roslaunch husky_viz view_model.launch` diff --git a/husky_msgs/.gitignore b/husky_msgs/.gitignore deleted file mode 100644 index f8bcd1173..000000000 --- a/husky_msgs/.gitignore +++ /dev/null @@ -1,47 +0,0 @@ -build/ -bin/ -lib/ -msg_gen/ -srv_gen/ -msg/*Action.msg -msg/*ActionFeedback.msg -msg/*ActionGoal.msg -msg/*ActionResult.msg -msg/*Feedback.msg -msg/*Goal.msg -msg/*Result.msg -msg/_*.py - -# Generated by dynamic reconfigure -*.cfgc -/cfg/cpp/ -/cfg/*.py - -# Ignore generated docs -*.dox -*.wikidoc - -# eclipse stuff -.project -.cproject - -# qcreator stuff -CMakeLists.txt.user - -srv/_*.py -*.pcd -*.pyc -qtcreator-* -*.user - -/planning/cfg -/planning/docs -/planning/src - -*~ - -# Emacs -.#* - -# Catkin custom files -CATKIN_IGNORE diff --git a/husky_navigation/README.md b/husky_navigation/README.md deleted file mode 100644 index 3a0a67a5f..000000000 --- a/husky_navigation/README.md +++ /dev/null @@ -1,4 +0,0 @@ -husky_navigation -================ - -Launch files and code for autonomous navigation on the Husky diff --git a/husky_ur5_moveit_config/README.md b/husky_ur5_moveit_config/README.md deleted file mode 100644 index 73e467aa6..000000000 --- a/husky_ur5_moveit_config/README.md +++ /dev/null @@ -1,110 +0,0 @@ -* As of Feb 17th, 2015, the Husky UR5 has only been tested in simulation and not on real hardware. - -======================================= -Installing The Husky UR5 from Source -======================================= - -1. Clone these repositories and put them in your source directory, then catkin_make: - - git clone https://github.com/husky/husky_description - - git clone https://github.com/husky/husky_simulator - - git clone https://github.com/husky/husky_ur5_moveit_config - - mv robotiq grizzly_ur10 ~/catkin_ws/your_source_directory - - cd ~/catkin_ws - - catkin_make - -Everything should compile smoothly (provided you have all of the debs installed. if not, install all of them until the compiler errors go away) - -======================================= -Installing The Husky UR5 from debs -======================================= - -When available on http://www.ros.org/debbuild/indigo.html, - - sudo apt-get install ros-indigo-husky-desktop - -============================== -Usage with real Hardware (Not tested yet) -============================== - -There are launch files available to bringup a real Grizzly + UR10 robot. -Don't forget to source the correct setup shell files and use a new terminal for each command! - -To bring up the real robot, run: - - roslaunch grizzly_ur10_bringup grizzly_ur10_bringup.launch robot_ip:=IP_OF_THE_ROBOT [reverse_port:=REVERSE_PORT] - -A simple test script that moves the robot to predefined positions can be executed like this: - - rosrun ur_driver test_move.py - -CAUTION: -Remember that you should always have your hands on the big red button in case there is something in the way or anything unexpected happens. - -============================== -MoveIt! with real Hardware (Not tested yet) -============================== - -Additionally, you can use MoveIt! to control the robot. -There exist MoveIt! configuration packages for both robots. - -For setting up the MoveIt! nodes to allow motion planning run: - - roslaunch grizzly_ur10_moveit_config grizzly_ur10_moveit_planning_execution.launch - -For starting up RViz with a configuration including the MoveIt! Motion Planning plugin run: - - roslaunch grizzly_ur10_moveit_config moveit_rviz.launch config:=true - -As MoveIt! seems to have difficulties with finding plans for the UR with full joint limits [-2pi, 2pi], there is a joint_limited version using joint limits restricted to [-pi,pi]. In order to use this joint limited version, simply use the launch file arguments 'limited', i.e.: - - roslaunch grizzly_ur10_bringup grizzly_ur10_bringup.launch limited:=true robot_ip:=IP_OF_THE_ROBOT [reverse_port:=REVERSE_PORT] - - roslaunch grizzly_ur10_moveit_config grizzly_ur10_moveit_planning_execution.launch limited:=true - - roslaunch grizzly_ur10_moveit_config moveit_rviz.launch config:=true - - -=============================== -Usage with Gazebo Simulation -=============================== - -There are launch files available to bringup a simulated robot. -In the following the commands for the UR5 are given. For the UR10, simply replace the prefix accordingly. - -Don't forget to source the correct setup shell files and use a new terminal for each command! - -To bring up the simulated robot in Gazebo, run: - - roslaunch husky_gazebo husky_ur5.launch - -=============================== -MoveIt! with a simulated robot -=============================== - -Have the Gazebo simulation up and running: - - roslaunch husky_gazebo husky_ur5.launch - -Start the trajectory execution for simulation. This will allow the controllers to move the robot and bring up move_group which accepts PlanningRequest messages. - - roslaunch husky_ur5_moveit_config husky_ur5_planning_execution.launch sim:=true - -Start RViz which will provide an interface to move around the arm. - - roslaunch husky_ur5_moveit_config moveit_rviz.launch config:=true - -Make sure you set the planning request to be: ur5_arm so you can control the arm. It will also have interactive markers around it. hit the "Plan and execute" button once you have selected a nice location for the arm, and by nice it means a place where there is no red. - -It should have a response time of less than 0.5s. - - - - - - diff --git a/husky_ur5_moveit_config/package.xml b/husky_ur5_moveit_config/package.xml index 55f42bff1..5dd0003ac 100644 --- a/husky_ur5_moveit_config/package.xml +++ b/husky_ur5_moveit_config/package.xml @@ -1,7 +1,7 @@ husky_ur5_moveit_config - 0.2.1 + 0.1.1 An automatically generated package with all the configuration and launch files for using the husky_ur5 with the MoveIt Motion Planning Framework @@ -27,5 +27,5 @@ warehouse_ros moveit_ros_warehouse - +